#ifndef _INCL_AP_Estimateur
#define _INCL_AP_Estimateur

#include "AP_def.h"

class AP_Estimateur {
public:
	AP_Estimateur();
	GPose3D pose_e;
	GPoint3D v_e;
	float kx, kv;
	void prediction(
			GPose3D pose_p,
			GPoint3D v_p,
			long int dtms,
			GPose3D& pose_s,
			GPoint3D& v_s);
	void
	estimateur(
			GPose3D pose_m,
			GPoint3D v_m,
			GPose3D pose_p,
			GPoint3D v_p,
			long int dtms,
			float kx,
			float kv,
			GPose3D& pose_e_,
			GPoint3D& v_e_);
	void estimateur(
			GPose3D pose_m,
			GPoint3D v_m,
			long int dtms,
			float kx,
			float kv);
};


#endif